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Hrethel: Hrethel was the father of King Hygelac. Beowulf spent much of his childhood as a ward at Hrethel's court. Hrethel died of grief after his son, Herebeald, was accidentally killed. Hrethric: Hrethric is the young son of Hrothgar and Wealhtheow.
Spent a lot of years working on 'Beowulf' and I reckon that the monsters represent human characters. In my view: Grendel represents Agnar, son of Ingeld; Grendel's Mum represents the daughter of Earl Swerting of Sweden (and the first wife of Ingeld); and the Dragon represents Onela, king of the Swedes.